Designing cyber-physical systems is a complex task which requires insights at multiple abstraction levels. The choices of single components are deeply interconnected and need to be jointly studied. In this work, we consider the problem of co-designing the control algorithm as well as the platform around it. In particular, we leverage a monotone theory of co-design to formalize variations of the LQG control problem as monotone feasibility relations. We then show how this enables the embedding of control co-design problems in the higher level co-design problem of a robotic platform. We illustrate the properties of our formalization by analyzing the co-design of an autonomous drone performing search-and-rescue tasks and show how, given a set of desired robot behaviors, we can compute Pareto efficient design solutions.

中文翻译：

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自治系统的协同设计：从硬件选择到控制综合

设计网络物理系统是一项复杂的任务，需要在多个抽象级别进行洞察。单个组件的选择相互关联，需要共同研究。在这项工作中，我们考虑了共同设计控制算法及其周围平台的问题。特别是，我们利用协同设计的单调理论将LQG控制问题的变化形式化为单调可行性关系。然后，我们将展示这如何将控制协同设计问题嵌入到机器人平台的更高层次的协同设计问题中。我们通过分析执行搜索和救援任务的自主无人机的协同设计来说明形式化的性质，并说明在给定的一组期望的机器人行为的情况下，我们如何计算帕累托高效的设计解决方案。